TY - GEN
T1 - The sensor-controller network of the humanoid robot LOLA
AU - Favot, Valerio
AU - Buschmann, Thomas
AU - Schwienbacher, Markus
AU - Ewald, Alexander
AU - Ulbrich, Heinz
PY - 2012
Y1 - 2012
N2 - This paper describes the control, communication and sensor network of the humanoid robot LOLA. A brief description of the complex decentralized electronic architecture will be given. A dedicated circuit board has been developed as decentralized computation device and sensor-controller interface. A detailed description of the hardware and software capabilities of the board is given. The implementation of the real-time communication network based on Sercos-III is described. Finally, a description of the control structure of LOLA is given.
AB - This paper describes the control, communication and sensor network of the humanoid robot LOLA. A brief description of the complex decentralized electronic architecture will be given. A dedicated circuit board has been developed as decentralized computation device and sensor-controller interface. A detailed description of the hardware and software capabilities of the board is given. The implementation of the real-time communication network based on Sercos-III is described. Finally, a description of the control structure of LOLA is given.
UR - http://www.scopus.com/inward/record.url?scp=84891121682&partnerID=8YFLogxK
U2 - 10.1109/HUMANOIDS.2012.6651612
DO - 10.1109/HUMANOIDS.2012.6651612
M3 - Conference contribution
AN - SCOPUS:84891121682
SN - 9781467313698
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 805
EP - 810
BT - 2012 12th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2012
T2 - 2012 12th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2012
Y2 - 29 November 2012 through 1 December 2012
ER -